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MEASURE THEORY Volume 1 D.H.Fremlin By the same author: Topological Riesz Spaces and Measure Theory, Cambridge University Press, 1974. Consequences of Martin’s Axiom, Cambridge University Press, 1982. Companions to the present volume: Measure Theory, vol. 2, Torres Fremlin, 2001; Measure Theory, vol. 3, Torres Fremlin, 2002; Measure Theory, vol. 4, Torres Fremlin, 2003; Measure Theory, vol. 5, Torres Fremlin, 2008. First edition May 2000 Second edition January 2011 MEASURE THEORY Volume 1 The Irreducible Minimum D.H.Fremlin Research Professor in Mathematics, University of Essex Dedicated by the Author to the Publisher This book may be ordered from the printers, http://www.lulu.com/buy. First published in 2000 by Torres Fremlin, 25 Ireton Road, Colchester CO3 3AT, England (cid:13)c D.H.Fremlin 2000 The right of D.H.Fremlin to be identified as author of this work has been asserted in accordance with the Copyright, Designs and Patents Act 1988. This work is issued under the terms of the Design Science License as published in http://www.gnu.org/licenses/dsl.html. For the source files see http://www.essex.ac.uk/maths/people/ fremlin/mt1.2011/index.htm. Library of Congress classification QA312.F72 AMS 2010 classification 28-01 ISBN 978-0-9538129-8-1 Typeset by AMS-TEX Printed by Lulu.com 5 Contents General Introduction 6 Introduction to Volume 1 7 Chapter 11: Measure Spaces Introduction 9 111 σ-algebras 10 Definitionofσ-algebra;countablesets;σ-algebrageneratedbyafamilyofsets;Borelσ-algebras. 112 Measure spaces 14 Definition of measure space; the use of ∞; elementary properties; negligible sets; point-supported measures; image measures. 113 Outer measures and Carath´eodory’s construction 19 Outermeasures;Carath´eodory’sconstructionofameasurefromanoutermeasure. 114 Lebesgue measure on R 23 Half-openintervals;Lebesgueoutermeasure;Lebesguemeasure;Borelsetsaremeasurable. 115 Lebesgue measure on Rr 28 Half-openintervals;Lebesgueoutermeasure;Lebesguemeasure;Borelsetsaremeasurable. Chapter 12: Integration Introduction 35 121 Measurable functions 35 Subspace σ-algebras; measurable real-valued functions; partially defined functions; Borel measurable functions; op- erationsonmeasurablefunctions;generatingBorelsetsfromhalf-spaces. 122 Definition of the integral 43 Simplefunctions;non-negativeintegrablefunctions;integrablereal-valuedfunctions;virtuallymeasurablefunctions; linearityoftheintegral. 123 The convergence theorems 52 B.Levi’stheorem;Fatou’slemma;Lebesgue’sDominatedConvergenceTheorem;differentiatingthroughanintegral. Chapter 13: Complements Introduction 56 131 Measurable subspaces 56 Subspacemeasuresonmeasurablesubsets;integrationovermeasurablesubsets. 132 Outer measures from measures 58 Theoutermeasureassociatedwithameasure;Lebesgueoutermeasureagain;measurableenvelopes. 133 Wider concepts of integration 61 ∞asavalueofanintegral;complex-valuedfunctions;upperandlowerintegrals. 134 More on Lebesgue measure 68 Translation-invariance;non-measurablesets;innerandouterregularity;theCantorsetandfunction;*theRiemann integral. 135 The extended real line 79 The algebra of ±∞; Borel sets and convergent sequences in [−∞,∞]; measurable and integrable [−∞,∞]-valued functions. *136 The Monotone Class Theorem 84 Theσ-algebrageneratedbyafamilyI;algebrasofsets. Appendix to Volume 1 Introduction 89 1A1 Set theory 89 Notation;countableanduncountablesets. 1A2 Open and closed sets in Rr 92 Definitions;basicpropertiesofopenandclosedsets;Cauchy’sinequality;openballs. 1A3 Lim sups and lim infs 94 limsupn→∞an,liminfn→∞an in[−∞,∞]. 6 Concordance 97 References for Volume 1 97 Index to Volume 1 Principal topics and results 98 General index 99 General Introduction In this treatise I aim to give a comprehensive description of modern abstract measure theory, with some indication ofitsprincipalapplications. Thefirsttwovolumesaresetatanintroductorylevel; theyareintendedforstudentswith a solid grounding in the concepts of real analysis, but possibly with rather limited detailed knowledge. The emphasis throughout is on the mathematical ideas involved, which in this subject are mostly to be found in the details of the proofs. My intention is that the book should be usable both as a first introduction to the subject and as a reference work. For the sake of the first aim, I try to limit the ideas of the early volumes to those which are really essential to the development of the basic theorems. For the sake of the second aim, I try to express these ideas in their full natural generality,andinparticularItakecaretoavoidsuggestinganyunnecessaryrestrictionsintheirapplicability. Ofcourse these principles are to to some extent contradictory. Nevertheless, I find that most of the time they are very nearly reconcilable, provided that I indulge in a certain degree of repetition. For instance, right at the beginning, the puzzle arises: should one develop Lebesgue measure first on the real line, and then in spaces of higher dimension, or should one go straight to the multidimensional case? I believe that there is no single correct answer to this question. Most studentswillfindtheone-dimensionalcaseeasier,anditthereforeseemsmoreappropriateforafirstintroduction,since even in that case the technical problems can be daunting. But certainly every student of measure theory must at a fairly early stage come to terms with Lebesgue area and volume as well as length; and with the correct formulations, the multidimensional case differs from the one-dimensional case only in a definition and a (substantial) lemma. So what I have done is to write them both out (in §§114-115), so that you can pass over the higher dimensions at first reading (by omitting §115) and at the same time have a complete and uncluttered argument for them (if you omit section §114). In the same spirit, I have been uninhibited, when setting out exercises, by the fact that many of the results I invite students to look for will appear in later chapters; I believe that throughout mathematics one has a better chance of understanding a theorem if one has previously attempted something similar alone. The plan of the work is as follows: Volume 1: The Irreducible Minimum Volume 2: Broad Foundations Volume 3: Measure Algebras Volume 4: Topological Measure Spaces Volume 5: Set-theoretic Measure Theory. Volume1isintendedforthosewithnopriorknowledgeofmeasuretheory,butcompetentintheelementarytechniques of real analysis. I hope that it will be found useful by undergraduates meeting Lebesgue measure for the first time. Volume 2 aims to lay out some of the fundamental results of pure measure theory (the Radon-Nikody´m theorem, Fubini’s theorem), but also gives short introductions to some of the most important applications of measure theory (probability theory, Fourier analysis). While I should like to believe that most of it is written at a level accessible to anyone who has mastered the contents of Volume 1, I should not myself have the courage to try to cover it in an undergraduate course, though I would certainly attempt to include some parts of it. Volumes 3 and 4 are set at a ratherhigherlevel,suitabletopostgraduatecourses; whileVolume5willassumeawide-rangingcompetenceoverlarge parts of analysis and set theory. There is a disclaimer which I ought to make in a place where you might see it in time to avoid paying for this book. I make no attempt to describe the history of the subject. This is not because I think the history uninteresting or unimportant; rather, it is because I have no confidence of saying anything which would not be seriously misleading. IndeedIhaveverylittleconfidenceinanythingIhaveeverreadconcerningthehistoryofideas. SowhileIamhappyto honour the names of Lebesgue and Kolmogorov and Maharam in more or less appropriate places, and I try to include in the bibliographies the works which I have myself consulted, I leave any consideration of the details to those bolder and better qualified than myself. Introduction to Volume 1 7 For the time being, at least, printing will be in short runs. I hope that readers will be energetic in commenting on errors and omissions, since it should be possible to correct these relatively promptly. An inevitable consequence of this is that paragraph references may go out of date rather quickly. I shall be most flattered if anyone chooses to rely on this book as a source for basic material; and I am willing to attempt to maintain a concordance to such references, indicating where migratory results have come to rest for the moment, if authors will supply me with copies of papers which use them. In the concordance to the present volume you will find notes on the items which have been referred to in other published volumes of this work. I mention some minor points concerning the layout of the material. Most sections conclude with lists of ‘basic exercises’ and ‘further exercises’, which I hope will be generally instructive and occasionally entertaining. How many of these you should attempt must be for you and your teacher, if any, to decide, as no two students will have quite the same needs. I mark with a >>> those which seem to me to be particularly important. But while you may not need to write out solutions to all the ‘basic exercises’, if you are in any doubt as to your capacity to do so you should take this as a warning to slow down a bit. The ‘further exercises’ are unbounded in difficulty, and are unified only by a presumption that each has at least one solution based on ideas already introduced. Theimpulsetowritethistreatiseisinlargepartadesiretopresentaunifiedaccountofthesubject. Cross-references arecorrespondinglyabundantandwide-ranging. Inordertobeabletoreferfreelyacrossthewholetext, Ihavechosen a reference system which gives the same code name to a paragraph wherever it is being called from. Thus 132E is the fifth paragraph in the second section of Chapter 13, which is itself the third chapter of this volume, and is referred to by that name throughout. Let me emphasize that cross-references are supposed to help the reader, not distract him. Do not take the interpolation ‘(121A)’ as an instruction, or even a recommendation, to turn back to §121. If you are happy with an argument as it stands, independently of the reference, then carry on. If, however, I seem to have made rather a large jump, or the notation has suddenly become opaque, local cross-references may help you to fill in the gaps. Eachvolumewillhaveanappendixof‘usefulfacts’,inwhichIsetoutmaterialwhichiscalledonsomewhereinthat volume, and which I do not feel I can take for granted. Typically the arrangement of material in these appendices is directed very narrowly at the particular applications I have in mind, and is unlikely to be a satisfactory substitute for conventional treatments of the topics touched on. Moreover, the ideas may well be needed only on rare and isolated occasions. So as a rule I recommend you to ignore the appendices until you have some direct reason to suppose that a fragment may be useful to you. During the extended gestation of this project I have been helped by many people, and I hope that my friends and colleagues will be pleased when they recognise their ideas scattered through the pages below. But I am especially grateful to those who have taken the trouble to read through earlier drafts and comment on obscurities and errors. In particular, I should like to single out F.Nazarov and P.Wallace Thompson, whose thorough reading of the present volume corrected many faults. Introduction to Volume 1 In this introductory volume I set out, at a level which I hope will be suitable for students with no prior knowledge of the Lebesgue (or even Riemann) integral and with only a basic (but thorough) preparation in the techniques of (cid:15)-δ analysis, the theory of measure and integration up to the convergence theorems (§123). I add a third chapter (Chapter 13) of miscellaneous additional results, mostly chosen as being relatively elementary material necessary for topics treated in Volume 2 which does not have a natural place there. The title of this volume is a little more emphatic than I should care to try to justify au pied de la lettre. I would certainly characterise the construction of Lebesgue measure on R (§114), the definition of the integral on an abstract measure space (§122) and the convergence theorems (§123) as indispensable. But a teacher who wishes to press on to further topics will find that much of Chapter 13 can be set aside for a while. I say ‘teacher’ rather than ‘student’ here, because if you are studying on your own I think you should aim to go slower than the text requires rather than faster; in my view, these ideas are genuinely difficult, and I think you should take the time to get as much practice at relatively elementary levels as you can. Perhaps this is a suitable moment at which to set down some general thoughts on the teaching of measure theory. I havebeenteachinganalysisforoverthirtyyearsnow,andoneofthefewconstantsoverthatperiodhasbeenthefeeling, almostuniversalamongteachersofanalysis,thatwearenotservingmostofourstudentswell. Wehaveallencountered students who are not stupid – who are indeed quite good at mathematics – but who seem to have a disproportionate difficulty with rigorous analysis. They are so exhausted and demoralised by the technical problems that they cannot makesenseoruseevenoftheknowledgetheyachieve. Thenaturalreactiontothisistotrytomakecoursesshorterand easier. But I think that this makes it even more likely that at the end of the semester your students will be stranded in thorn-bushes half way up the mountain. Specifically, with Lebesgue measure, you are in danger of spending twenty 8 Introduction to Volume 1 hours teaching them how to integrate the characteristic function of the rationals. This is not what the subject is for. Lebesgue’s own presentations of the subject (Lebesgue 1904, Lebesgue 1918) emphasize the convergence theorems and the Fundamental Theorem of Calculus. I have put the former in Volume 1 and the latter in Volume 2, but it does seem to me that unless your students themselves want to know when one can expect to be able to interchange a limit and an integral, or which functions are indefinite integrals, or what the completions of C([0,1]) under the norms (cid:107)(cid:107) , 1 (cid:107)(cid:107) look like, then it is going to be very difficult for them to make anything of this material; and if you really cannot 2 reach the point of explaining at least a couple of these matters in terms which they can appreciate, then it may not be worth starting. I would myself choose rather to omit a good many proofs than to come to the theorems for which the subject was created so late in the course that two thirds of my class have already given up before they are covered. OfcourseIandothershavefollowedthatroadtoo,withnobetterresults(thoughusuallywithhappierstudents)than we obtain by dotting every i and crossing every t in the proofs. Nearly every time I am consulted by a non-specialist who wants to be told a theorem which will solve his problem, I am reminded that pure mathematics in general, and analysis in particular, does not lie in the theorems but in the proofs. In so far as I have been successful in answering such questions, it has usually been by making a trifling adjustment to a standard argument to produce a non-standard theorem. The ideas are in the details. You have not understood Carath´eodory’s construction (§113) until you can, at the very least, reliably reproduce the argument which shows that it works. In the end, there is no alternative to going overeverystepoftheground, andwhileIhaveoccasionallybeenruthlessincuttingouttopicswhichseemtometobe marginal, I have tried to make sure – at the expense, frequently, of pedantry – that every necessary idea is signalled. Faced,therefore,withanyparticularclass,Ibelievethatateachermustcompromisebetweenscopeandcompleteness. Exactly which compromises are most appropriate will depend on factors which it would be a waste of time for me to guess at. This volume is supposed to be a possible text on which to base a course; but I hope that no lecturer will set her class to read it at so many pages a week. My primary aim is to provide a concise and coherent basis on which to erect the structure of the later volumes. This involves me in pursuing, at more than one point, approaches which take slightly more difficult paths for the sake of developing a more refined technique. (Perhaps the most salient of these is my insistence that an integrable function need not be defined everywhere on the underlying measure space; see §§121-122.) It is the responsibility of the individual teacher to decide for herself whether such refinements are appropriate to the needs of her students, and, if not, to show them what translations are needed. The above paragraphs are directed at teachers who are, supposedly, competent in the subject – certainly past the level treated in this volume – and who have access to some of the many excellent books already available, so that if they take the trouble to think out their aims, they should be able to choose which elements of my presentation are suitable. ButImustalsoconsiderthepositionofastudentwhoissettingouttolearnthismaterialonhisown. Itrust that you have understood from what I have already written that you should not be afraid to look ahead. You could, indeed, do worse than go to Volume 2, and take one of the wonderful theorems there – the Fundamental Theorem of Calculus (§222), for instance, or, if you are very ambitious, the strong law of large numbers (§273) – and use the index and the cross-references to try to extract a proof from first principles. If you are successful you will have every right to congratulate yourself. In the periods in which success seems elusive, however, you should be working systematically throughthe‘basicexercises’inthesectionswhichseemtoberelevant; andifallelsefails, startagainatthebeginning. Mathematics is a difficult subject, that is why it is worth doing, and almost every section here contains some essential idea which you could not expect to find alone. Note on second and third printings For the second printing of this volume I made a few corrections, with a handful of new exercises. For the third printing I have done the same; in addition, I have given an elementary extra result and formal definitions of some almost standard terms. I have also allowed myself, in a couple of cases, to rearrange a set of exercises into what now seems to me a more natural order. Note on second edition, 2011 For the new (‘Lulu’) edition of this volume, I have eliminated a number of further errors; no doubt many remain. There are some further exercises, and a little more material on upper and lower integrals (§133). Chap. 11 intro. Introduction 9 Chapter 11 Measure spaces In this chapter I set out the fundamental concept of ‘measure space’, that is, a set in which some (not, as a rule, all) subsets may be assigned a ‘measure’, which you may wish to interpret as area, or mass, or volume, or thermal capacity, or indeed almost anything which you would expect to be additive – I mean, that the measure of the union of two disjoint sets should be the sum of their measures. The actual definition (in 112A) is not obvious, and depends essentially on certain technical features which make a preparatory section (§111) advisable. Furthermore, even with the definition well in hand, the original and most important examples of measures, Lebesgue measure on Euclidean space, remain elusive. I therefore devote a section (§113) to a method of constructing measures, before turning to the details of the arguments needed for Lebesgue measure in §§114-115. Thus the structure of the chapter is three sections of general theory followed by two (which are closely similar) on particular examples. I should say that the general theory is essentially easier; but it does rely on facility with certain manipulations of families of sets which may be new to you. At some point I ought to comment on my arrangement of the material, and it may be helpful if I do so before you start work on this chapter. One of the many fundamental questions which any author on the subject must decide, is whethertobeginwith‘general’measuretheoryorwith‘Lebesgue’measureandintegration. ThepointisthatLebesgue measure is rather more than just the most important example of a measure space. It is so close to the heart of the subject that the great majority of the ideas of the elementary theory can be fully realised in theorems about Lebesgue measure. Looking ahead to Volume 2, I find that, with the exception of Chapter 21 – which is specifically devoted to extending your ideas of what measure spaces can be – only Chapter 27 and the second half of Chapter 25 really need the general theory to make sense, while Chapters 22, 26 and 28 are specifically about Lebesgue measure. Volume 3 is another matter, but even there more than half the mathematical content can be expressed in terms of Lebesgue measure. Ifyoutaketheview,asIcertainlydowhenitsuitsmyargument,thatthebusinessofpuremathematicsisto express and extend the logical capacity of the human mind, and that the actual theorems we work through are merely vehiclesfortheideas,thenyoucancorrectlypointoutthatallthereallyimportantthingsinthepresentvolumecanbe donewithoutgoingtothetroubleofformulatingageneraltheoryofabstractmeasurespaces; andthatbystudyingthe relativelyconcreteexampleofLebesguemeasureonr-dimensionalEuclideanspaceyoucanavoidavarietyofirrelevant distractions. If you are quite sure, as a teacher, that none of your pupils will wish to go beyond the elementary theory, there is something to be said for this view. I believe, however, that it becomes untenable if you wish to prepare any of your students for more advanced ideas. The difficulty is that, with the best will in the world, anyone who has worked through the full theory of Lebesgue measure, and then comes to the theory of abstract measure spaces, is likely to go through it too fast, and at the end find himself uncertain about just which ninety per cent of the facts he knows are generally applicable. I believe it is safer to keep the special properties of Lebesgue measure clearly labelled as such from the beginning. Itisofcoursethebesettingsinofmathematicsteachersatthislevel,toteachaclassoftwentyinamannerappropriate to perhaps two of them. But in the present case my own judgement is that very few students who are ready for the course at all will have any difficulty with the extra level of abstraction involved in ‘Let (X,Σ,µ) be a measure space, ...’. I do assume knowledge of elementary linear algebra, and the grammar, at least, of arbitrary measure spaces is no worse than the grammar of arbitrary linear spaces. Moreover, the Lebesgue theory already involves statements of theform‘ifE isaLebesguemeasurableset, ...’, and inmyexperiencestudentswhocan cope withquantificationover subsets of the reals are not deterred by quantification over sets of sets (which anyway is necessary for any elementary description of the σ-algebra of Borel sets). So I believe that here, at least, the extra generality of the ‘professional’ approach is not an obstacle to the amateur. I have written all this here, rather than later in the chapter, because I do wish to give you the choice. And if your choice is to learn the Lebesgue theory first, and leave the general theory to later, this is how to do it. You should read paragraphs 114A-114C 114D, with 113A-113B and 112Ba, 112Bc 114E, with 113C-113D, 111A, 112A, 112Bb 114F 114G, with 111G and 111C-111F, and then continue with Chapter 12. At some point, of course, you should look at the exercises for §§112-113; but, as in Chapters 12-13, you will do so by translating ‘Let (X,Σ,µ) be a measure space’ into ‘Let µ be Lebesgue measure on R, and Σ the σ-algebra of Lebesgue measurable sets’. Similarly, when you look at 111X-111Y, you will take Σ to be either the σ-algebra of Lebesgue measurable sets or the σ-algebra of Borel subsets of R. 10 Measure spaces §111 intro. 111 σ-algebras In the introduction to this chapter I remarked that a measure space is ‘a set in which some (not, as a rule, all) subsets may be assigned a measure’. All ordinary concepts of ‘length’ or ‘area’ or ‘volume’ apply only to reasonably regularsets. Modernmeasuretheoryisremarkablypowerfulinthatanextraordinaryvarietyofsetsareregularenough to be measured; but we must still expect some limitation, and when studying any measure a proper understanding of theclassofsetswhichitmeasureswillbecentraltoourwork. Thebasicdefinitionhereisthatof‘σ-algebraofsets’;all measures in the standard theory are defined on such collections. I therefore begin with a statement of the definition, and a brief discussion of the properties, of these classes. 111A Definition Let X be a set. A σ-algebra of subsets of X (sometimes called a σ-field) is a family Σ of subsets of X such that (i) ∅∈Σ; (ii) for every E ∈Σ, its complement X\E in X belongs to Σ; (cid:83) (iii) for every sequence (cid:104)En(cid:105)n∈N in Σ, its union n∈NEn belongs to Σ. 111B Remarks (a) Almost any new subject in pure mathematics is likely to begin with definitions. At this point there is no substitute for rote learning. These definitions encapsulate years, sometimes centuries, of thought by many people; you cannot expect that they will always correspond to familiar ideas. (b)Nevertheless,youshouldalwaysseekimmediatelytofindwaysofmakingnewdefinitionsmoreconcretebyfinding examples within your previous mathematical experience. In the case of ‘σ-algebra’, the really important examples, to be described below, are going to be essentially new – supposing, that is, that you need to read this chapter at all. However, two examples should be immediately accessible to you, and you should bear these in mind henceforth: (i) for any X, Σ={∅,X} is a σ-algebra of subsets of X; (ii) for any X, PX, the set of all subsets of X, is a σ-algebra of subsets of X. Theseareofcoursethesmallestandlargestσ-algebrasofsubsetsofX, andwhileweshallspendlittletimewiththem, both are in fact significant. *(c) The phrase measurable space is often used to mean a pair (X,Σ), where X is a set and Σ is a σ-algebra of subsets of X; but I myself prefer to avoid this terminology, unless greatly pressed for time, as in fact many of the most interesting examples of such objects have no useful measures associated with them. 111C Infinite unions and intersections If you have not seen infinite unions before, it is worth pausing over the (cid:83) formula E . This is the set of points belonging to one or more of the sets E ; we may write it as n∈N n n (cid:91) E ={x:∃ n∈N, x∈E } n n n∈N =E ∪E ∪E ∪... . 0 1 2 (I write N for the set of natural numbers {0,1,2,3,...}.) In the same way, (cid:92) E ={x:x∈E ∀n∈N} n n n∈N =E ∩E ∩E ∩... . 0 1 2 It is characteristic of the elementary theory of measure spaces that it demands greater facility with the set-operations ∪, ∩, \ (‘set difference’: E \F = {x : x ∈ E, x ∈/ F}), (cid:52) (‘symmetric difference’: E(cid:52)F = (E \F)∪(F \E) = (E∪F)\(E∩F))thanyouhaveprobablyneededbefore,withtheaddedcomplicationofinfiniteunionsandintersections. I strongly advise spending at least a little time with Exercise 111Xa at some point. 111D Elementary properties of σ-algebras If Σ is a σ-algebra of subsets of X, then it has the following properties. (a) E∪F ∈Σ for all E, F ∈Σ. PPP For if E, F ∈Σ, set E0 =E, En =F for n≥1; then (cid:104)En(cid:105)n∈N is a sequence in (cid:83) Σ and E∪F = E ∈Σ. QQQ n∈N n (b)E∩F ∈ΣforallE, F ∈Σ. PPPBy(ii)ofthedefinitionin111A,X\E andX\F ∈Σ; by(a)ofthisparagraph, (X\E)∪(X\F)∈Σ; by 111A(ii) again, X\((X\E)∪(X\F))∈Σ; but this is just E∩F. QQQ

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